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In the present paper, a dynamic analysis is presented, comparing three snake-like robot gaits: lateral undulation, sidewinding locomotion, and sinus-lifting motion. To simplify calculations, sidewinding locomotion and sinus-lifting motion are considered planar movements. Vertical movements are assumed to be small but play a critical role in change where contacts are made. Thus, the normal forces acting...
The observation of quadruped animals has suggested that the body flexibility is important for the bounding gait. In particular, the body flexibility is assumed to be crucial for determining the ground reaction force (GRF). In this paper, we investigated the dynamic effect of the body flexibility on the GRF in quadruped bounding with simple physical models by focusing on the vertical motion. More specifically,...
In this paper, the problem on robust H∞ control for 6-DOF spacecraft formation flying in the presence of parameter uncertainties and external disturbances is addressed. Firstly, the model of coupled translation and rotation motion of spacecraft formation is established. Subsequently, a robust H∞ controller is proposed, which is constructed by the solution to the Hamilton-Jacobi-Inequality (HJI). It...
In this paper, a dynamical analysis of sidewinding locomotion by a snake like robot is presented. Sidewinding locomotion is treated as a planar movement for simplicity, and the normal forces acting on the grounded links and the torques applied on pitch joints are calculated by solving equilibrium equations. Energy efficiency of sidewinding locomotion is compared with that of lateral undulation. Simulation...
Red harvester ants allocate themselves to some tasks. In this paper, we propose the ODE model which represents their macro behaviors. In this model, colony size fluctuates due to workers' birth and death. Using the simulator based on this model, we investigate the relationship between survivability of colony and rate of state transition from searching state to resting state.
Red harvester ants, Pogonomyrmex barbatus, allocate themselves to some tasks: foraging, midden work, nest maintenance etc. In this paper, we propose the macro model of their behavior by PDE. In this model, colony size, that is the total number of ants in a colony, fluctuates due to workers' birth and death. And then, using the simulator which is based on this model, we investigate the relationship...
E.burchellii is a type of new world army ant, who is living in the tropical rainforests of the Americas. He has a unique behavior that the members of the species plug potholes by putting their own bodies so that other members can step on them and cross the potholes in the path between the nest and the food. According to a previous study, this behavior allows members of a colony to cross potholes at...
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